What does the Fixed Frame mean in rviz?
What does the Fixed Frame mean in rviz?
What does the Fixed Frame mean in rviz?
It's the tf frame that all positions/measurements that you see are relative to. For example, let's say you have a robot that has two frames, odom (a world-fixed frame) and base_link (the body frame of the robot). The robot is at position (10, 0)
with a heading of pi/2
in the odom frame, and it has a LIDAR on board that sees an obstacle 5 meters directly in front of it. If you set your Fixed Frame to odom, that obstacle will appear at position (10, 5)
. If you set your Fixed Frame to base_link, it will appear at (5, 0)
.
EDIT: updating answer for comment from @malharjajoo
Thank you so much.
Does the Grid
always be the world coordinate? If I set /odom
as the fixed frame. Rviz will draw obstacle at potions (10, 5)
in the Grid
?
I think the heading in your assumption should be pi/2
.
@tom, I didn;t really follow your explanation, what does heading = pi/2 mean ( is the robot facing left by 90 degree compared to lidar) ?
also could you elaborate how the (10,0) and (10,5) works out ? can't seem to visualize that based on the explanation.
Please start posting anonymously - your entry will be published after you log in or create a new account.
Asked: 2014-11-19 06:59:24 -0600
Seen: 3,983 times
Last updated: Feb 19 '18
rviz does not start, no error messages
Tutorials-Markers: Do not overwrite last marker
Rotate pose with covariance frame [closed]
OGRE EXCEPTION (FileNotFoundException) when loading URDF in RViz
invisible links in rviz [closed]
how to make rviz subscribe laser scan topic
Robot rotates around a point instead of navigating to Goal Position when working with amcl